Water dispensing system control method based on liquid level and flow

Abstract

A water weight distribution system control method based on liquid level and flow includes: step one, input target aircraft center of gravity, set target center of gravity difference threshold, start adjustment program; step two, obtain the flow of the transmitted liquid weight medium through the flow sensor, and calculate the current center of gravity position of the aircraft based on the flow, obtain the liquid level of each water tank through the liquid level sensor, and calculate the current center of gravity position of the aircraft based on the liquid level; step three, real-time monitor the aircraft center of gravity position based on the flow and the aircraft center of gravity position based on the liquid level; step four, in the case that at least one of the difference between the aircraft center of gravity position based on the flow and the target center of gravity position and the difference between the aircraft center of gravity position based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold, it is determined that the target center of gravity has been adjusted. Through the dual-redundancy control method, the center of gravity adjustment result can be reliably ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to a water ballast system control method based on liquid level and flow, more particularly, to a water ballast system control method based on liquid level and flow suitable for adjusting the center of gravity of an aircraft. BACKGROUND

[0002] During the flight of an aircraft, the position of the center of gravity of the aircraft directly affects the maneuverability and stability of the aircraft. Newly developed aircraft need to carry out center of gravity envelope expansion and critical center of gravity flight test subjects during the flight test phase to verify the maneuvering and stability characteristics of the aircraft at different center of gravity positions, especially at extreme center of gravity positions.

[0003] Generally, the center of gravity of an aircraft is adjusted during flight by a water ballast system to meet the requirements of flight test subjects. The water ballast system is a key system for improving flight test efficiency and ensuring flight test safety. The principle of the water ballast system is to set a plurality of water tanks in the front and rear sections of the passenger cabin of the aircraft, and to adjust the transmission of the ballast medium between the water tank groups in the front and rear sections by a pump, thereby adjusting the overall center of gravity of the aircraft.

[0004] In order to adjust the center of gravity of the aircraft, first, the water ballast system needs to calculate the weight center of gravity of the ballast medium, and then calculate the weight center of gravity of the aircraft. The calculation method of the weight center of gravity of the ballast medium is the core of the control of the water ballast system, and directly determines the adjustment accuracy of the system, and even affects the safety of the flight.

[0005] In Chinese patents CN112849430A and CN112882379A, a center of gravity adjustment control method based on liquid level is proposed. The control method measures the liquid level of each water tank, calculates the weight of each water tank according to the liquid level of the ballast medium in the water tank, and then calculates the weight center of gravity of all ballast media.

[0006] The advantage of the control method based on liquid level is that the method is a result measurement method, and the reliability is high. However, the disadvantage is that the measurement result is greatly affected by factors such as the attitude of the aircraft and the overload, and the calculation result of the center of gravity is unstable.

[0007] In addition to the control method based on liquid level, a control method based on flow can also be used for measurement. The control method based on flow uses a flow sensor to measure the flow during adjustment, integrates the flow over time to obtain the amount of adjustment, and combines the reference weight at the previous time to calculate the weight center of gravity of the ballast medium.

[0008] The flow-based control method has the advantages that the measurement result is less affected by the aircraft attitude and the calculation result of the center of gravity is stable, but has the disadvantage that the calculation of the center of gravity each time is based on the previous time, thereby causing cumulative errors. In addition, the flow measurement is a process measurement method, which belongs to an open-loop control method, and the system cannot identify errors that can occur in the calculation process, thereby causing a great safety hazard for test flights.

[0009] Therefore, how to provide a water ballast system control method with reliable results has become a technical problem to be solved. SUMMARY

[0010] The present disclosure is made to solve the above technical problem, and aims to provide a water ballast system control method based on liquid level and flow, which can reliably adjust the center of gravity of an aircraft by adopting a dual-redundancy control method combining two different control methods.

[0011] To achieve the purpose of the present disclosure, a water ballast system control method based on liquid level and flow is provided, which is suitable for adjusting the center of gravity of an aircraft during a test flight. The water ballast system control method based on liquid level and flow includes the following steps: step one, inputting a target aircraft center of gravity, setting a target center of gravity difference threshold value, and starting a center of gravity adjustment program; step two, obtaining the flow of the liquid ballast medium transmitted by a flow sensor, and calculating the current center of gravity of the aircraft based on the flow, and obtaining the liquid level of each water tank by a liquid level sensor, and calculating the current center of gravity of the aircraft based on the liquid level; step three, monitoring the center of gravity of the aircraft calculated based on the flow and the center of gravity of the aircraft calculated based on the liquid level in real time; and step four, determining that the center of gravity of the aircraft has been adjusted to the target center of gravity and ending the center of gravity adjustment program when at least one of the difference between the center of gravity of the aircraft calculated based on the flow and the target center of gravity and the difference between the center of gravity of the aircraft calculated based on the liquid level and the target center of gravity is less than the target center of gravity difference threshold value.

[0012] According to the above configuration, by combining the center of gravity control method based on the liquid level and the center of gravity control method based on the flow, the adjustment result of the center of gravity of the aircraft can be more reliably controlled, so that the center of gravity of the aircraft can be accurately adjusted to the desired position, and the reliability of the result is improved.

[0013] Preferably, in step two, before adjusting the center of gravity of the aircraft, the reference weight of each water tank of the aircraft before the center of gravity adjustment is obtained; then, the flow sensor obtains the transmission flow of the liquid ballast medium, the transmission weight of the liquid ballast medium is calculated by integrating the transmission flow with respect to time, and the current weight of each water tank is calculated in combination with the reference weight, so as to calculate the current center of gravity of the aircraft.

[0014] Preferably, in step two, the liquid level sensor obtains the current liquid level of each water tank, and calculates the current weight of each water tank according to the relationship between the liquid level and the weight, so as to calculate the current center of gravity position of the aircraft.

[0015] According to the above configuration, the center of gravity control mode based on the flow obtains the weight of the water tank by obtaining the flow of the liquid level configuration medium transmitted when the center of gravity is adjusted, the center of gravity control mode based on the liquid level obtains the weight of the water tank by obtaining the liquid level data of each water tank when the center of gravity is adjusted, and further obtains the center of gravity position of the aircraft, so that the center of gravity position of the aircraft can be adjusted more reliably through two control modes with completely different principles.

[0016] Preferably, in step four, firstly, it is judged whether the difference between the center of gravity position of the aircraft calculated based on the flow and the target center of gravity position is less than the target center of gravity difference threshold value, and in the case of less than, it is determined that the center of gravity position of the aircraft has been adjusted to the target center of gravity position; in the case of not less than, it is judged whether the difference between the center of gravity position of the aircraft calculated based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold value, and in the case that at least one of the difference between the center of gravity position of the aircraft calculated based on the flow and the target center of gravity position and the difference between the center of gravity position of the aircraft calculated based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold value, it is determined that the center of gravity position of the aircraft has been adjusted to the target center of gravity position.

[0017] According to the above configuration, since the control mode based on the flow is less affected by the attitude of the aircraft, the center of gravity data calculated based on the flow is used as the judgment basis for whether the center of gravity of the aircraft is adjusted to the target center of gravity during the adjustment of the center of gravity of the aircraft, so that the center of gravity of the aircraft can be adjusted more accurately; when the control mode based on the flow has a problem, the control mode based on the liquid level is continued to be used, and through double redundant control, the center of gravity position of the aircraft can be reliably adjusted.

[0018] Preferably, in step three, it further includes setting a relative center of gravity difference threshold value and a relative weight difference threshold value, and monitoring the aircraft center of gravity difference between the center of gravity of the aircraft calculated based on the flow and the center of gravity of the aircraft calculated based on the liquid level and the water tank weight difference between the water tank weight calculated based on the flow and the water tank weight calculated based on the liquid level in real time.

[0019] Preferably, in the case that the aircraft center of gravity difference exceeds the relative center of gravity difference threshold value or the water tank weight difference exceeds the relative weight difference threshold value, an alarm information is sent out.

[0020] According to the above configuration, while the center of gravity of the aircraft is adjusted by the two control modes, the water tank weight and the center of gravity of the aircraft calculated by the two modes are compared, and in the case that the difference between the two exceeds a preset threshold, an alarm information is sent, so that possible fault problems can be found in time, and the reliability of the adjustment result of the center of gravity of the aircraft is ensured.

[0021] Preferably, when the operator receives the above alarm information, the operator suspends the adjustment program of the center of gravity of the aircraft, and investigates the cause; in the case that it is judged that the system has failed, the adjustment program is ended; in the case that it is judged that the system has not failed, the aircraft attitude is waited to return to the normal state, the water tank reference weight is updated by the water tank weight measured by the liquid level, and the above adjustment program is restarted.

[0022] According to the above configuration, when the alarm information is received, the operator can timely investigate the cause, and the adjustment program of the center of gravity of the aircraft can be effectively ensured to proceed smoothly.

[0023] Preferably, the liquid level sensor is separately provided for each of the water tanks, and the liquid level data of each water tank is collected.

[0024] By separately providing the liquid level sensor for each water tank and collecting the liquid level change amount, the situation that the collected result is inaccurate due to the failure or measurement error of a single liquid level sensor can be avoided, and the accuracy of adjusting the center of gravity of the aircraft is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] With reference to the above objects, the technical features of the present application are clearly described in the following technical solutions, and the advantages thereof are apparent from the following detailed description with reference to the accompanying drawings, which show preferred embodiments of the present application by way of example, but do not limit the scope of the inventive concept.

[0026] Figure 1 is a schematic diagram showing the overall structure of the water counterweight system based on liquid level and flow according to the present application.

[0027] Figure 2 is a control flowchart showing the control method of the water counterweight system based on liquid level and flow according to the present application.

[0028] SYMBOL DESCRIPTION

[0029] 1 water counterweight system;

[0030] 10 front water tank unit;

[0031] 11 front water tank;

[0032] 12 front water inlet and outlet control valve;

[0033] 13 front liquid level sensor;

[0034] 20 rear water tank unit;

[0035] 21 rear water tank;

[0036] 22 rear water in-out control valve;

[0037] 23 rear liquid level sensor;

[0038] 30 flow monitoring unit;

[0039] 31 pump;

[0040] 32 flow sensor;

[0041] 33 change-over valve;

[0042] PT medium line DETAILED DESCRIPTION

[0043] Various embodiments of the present application will now be described in detail with reference to the accompanying drawings. In the following description, a detailed description of known functions and configurations incorporated herein will be omitted when it can make the subject matter of the present application unclear.

[0044] Although the present application is described with reference to exemplary embodiments, it is to be understood that the description is not intended to limit the present application to the exemplary embodiments described. Rather, the present application is intended to cover all alternatives, modifications, and equivalents that can be included within the spirit and scope of the present application as defined by the appended claims.

[0045] Hereinafter, a general structure of a liquid level and flow based water ballast system 1 according to the present application will be described with reference to the accompanying drawings. Figure 1 FIG. 1 is a schematic diagram showing the overall structure of the liquid level and flow based water ballast system 1 according to the present application. Figure 1

[0046] As shown in FIG. 1, the liquid level and flow based water ballast system 1 according to the present application mainly includes a front water tank unit 10, a rear water tank unit 20, and a flow monitoring unit 30. Figure 1 The front water tank unit 10 is disposed in a front portion of a cabin of an aircraft, and mainly includes a plurality of front water tanks 11, a plurality of front water in-out control valves 12, and a plurality of front liquid level sensors 13.

[0047] The plurality of front water tanks 11 store a liquid medium for adjusting a center of gravity position of the aircraft, and are equally spaced in a form of being arranged in a plurality of rows and a plurality of columns in the front portion of the cabin of the aircraft, and the plurality of front water tanks 11 are communicated with each other by a medium line PT.

[0048]

[0049] ​​The aforementioned front water-in and water-out control valve 12 and the front liquid level sensor 13 are respectively and individually provided for each of the plurality of front water tanks 11.

[0050] The aforementioned front water-in and water-out control valve 12 is provided between the front water tank 11 and the medium pipeline PT, and is used to control the inflow and outflow of the liquid medium for the counterbalance relative to the front water tank 11. The aforementioned front liquid level sensor 13 is installed in the front water tank 11, and is used to measure the liquid level height of the liquid medium in the front water tank 11.

[0051] The aforementioned rear water tank unit 20 is provided in the rear section of the aircraft cabin, and mainly includes a plurality of rear water tanks 21, a plurality of rear water-in and water-out control valves 22, and a plurality of rear liquid level sensors 23.

[0052] The aforementioned rear water tank unit 20 is symmetrically arranged in the aircraft cabin relative to the front water tank unit 10, and the functions and structures of the respective components are the same as those in the front water tank unit 10, which will not be described here.

[0053] When it is necessary to adjust the center of gravity of the aircraft forward, the transfer of the counterbalance medium from the rear water tank 21 in the rear water tank unit 20 to the front water tank 11 in the front water tank unit 10 is controlled, and when it is necessary to adjust the center of gravity of the aircraft rearward, the transfer of the counterbalance medium from the front water tank 11 in the front water tank unit 10 to the rear water tank 21 in the rear water tank unit 20 is controlled.

[0054] By respectively and individually providing the front liquid level sensor 13 and the rear liquid level sensor 23 in the aforementioned plurality of front water tanks 11 and the aforementioned plurality of rear water tanks 21, and by the plurality of front liquid level sensors 13 and the plurality of rear liquid level sensors 23, the liquid level change amount of each of the plurality of front water tanks 11 and the plurality of rear water tanks 21 is respectively collected, so as to calculate the current weight of each water tank, and further calculate the current center of gravity of the aircraft.

[0055] By individually collecting the liquid level change amount for each front water tank 11 and each rear water tank 21, the occurrence of inaccurate collection results due to the failure or measurement error of a single liquid level sensor can be avoided, so as to improve the collection accuracy of the liquid level sensor, and further improve the accuracy of adjusting the weight center of gravity of the aircraft.

[0056] In addition, a flow monitoring unit 30 is provided between the aforementioned front water tank unit 10 and the rear water tank unit 20, and mainly includes a pump 31, a flow sensor 32, and a reversing valve 33.

[0057] The aforementioned pump 31 is used to control the flow of the liquid counterbalance medium in the medium pipeline PT, the aforementioned flow sensor 32 is used to measure the flow of the transferred liquid counterbalance medium, and the aforementioned reversing valve 33 is used to control the direction of the flow of the liquid counterbalance medium in the medium pipeline PT.

[0058] The flow sensor 32 can realize bidirectional measurement of the liquid configuration medium, that is, when the center of gravity of the aircraft is adjusted forward, the flow sensor 32 can measure the liquid configuration medium transmitted from the rear tank unit 20 to the front tank unit 10, and when the center of gravity of the aircraft is adjusted rearward, the flow sensor 32 can measure the liquid configuration medium transmitted from the front tank unit 10 to the rear tank unit 20.

[0059] The flow of the transmitted liquid configuration medium is monitored by the flow sensor 32 in the flow monitoring unit 30, and is converted by the computer system into the change of the center of gravity of the aircraft until the center of gravity of the aircraft changes to the desired position.

[0060] Hereinafter, the liquid level and flow-based water configuration system control method of the present application will be described with reference to the accompanying drawings. Figure 2 The liquid level and flow-based water configuration system control method of the present application will be described. Figure 2 is a system principle diagram showing the liquid level and flow-based water configuration system control method.

[0061] As shown in Figure 2 When it is necessary to adjust the center of gravity of the aircraft, first, the target center of gravity is input, and the adjustment program of the center of gravity of the aircraft is started.

[0062] Under the driving of the pump assembly, the configuration medium in the water configuration system is transmitted between the front tank unit 10 and the rear tank unit 10, the liquid level of the tank where the configuration medium flows out is lowered, the liquid level of the tank where the configuration medium flows in is raised, the liquid level data of each tank is collected in real time by the liquid level sensor, the weight of the configuration medium in each tank is calculated according to the liquid level-weight relationship in the tank, and the current center of gravity of the aircraft is calculated.

[0063] At the same time, the flow data of the flowed configuration medium is collected in real time by the flow sensor in the flow monitoring unit 30, the adjustment weight of the configuration medium is calculated by integrating the flow with respect to time, and then the current weight of each tank is calculated according to the adjustment weight of the configuration medium and the reference weight before adjustment, and the current center of gravity of the aircraft is calculated.

[0064] After the flow-based center of gravity of the aircraft and the liquid level-based center of gravity of the aircraft are calculated, the difference between the flow-based center of gravity of the aircraft and the input target center of gravity and the difference between the liquid level-based center of gravity of the aircraft and the input target center of gravity are monitored in real time by the computer system, and when one of the difference between the flow-based center of gravity of the aircraft and the input target center of gravity and the difference between the liquid level-based center of gravity of the aircraft and the input target center of gravity is less than the pre-set target center of gravity difference threshold value, the adjustment program of the center of gravity of the aircraft is stopped, and it is assumed that the center of gravity of the aircraft at this time has reached the target center of gravity.

[0065] Before starting the adjustment procedure of the aircraft's center of gravity, a target center of gravity difference threshold value needs to be set in advance. In the case that the difference between the calculated aircraft's center of gravity based on the flow rate and the input target center of gravity or the difference between the calculated aircraft's center of gravity based on the liquid level and the input target center of gravity is less than the target center of gravity difference threshold value, it can be determined that the aircraft's center of gravity has been adjusted to the desired target center of gravity.

[0066] In addition, although the water ballast system of the present application supports the selection of one of the calculated aircraft's center of gravity based on the flow rate and the calculated aircraft's center of gravity based on the liquid level as the criterion for adjusting the aircraft's center of gravity to the desired position, as described above, since the calculation of the aircraft's center of gravity based on the flow rate is less affected by the aircraft's attitude during the adjustment of the aircraft's center of gravity, the calculated aircraft's center of gravity based on the flow rate is preferred to be compared with the target center of gravity, and is used as the basis for determining whether the aircraft's center of gravity has been adjusted to the desired position. In the case that the adjustment of the aircraft's center of gravity based on the flow rate fails, the adjustment of the aircraft's center of gravity based on the liquid level can be used to determine whether the aircraft's center of gravity has been adjusted to the desired position.

[0067] In addition, as shown in Figure 2 the control method of the water ballast system based on the liquid level and the flow rate of the present application also provides a negative feedback control process. In the case that the difference between the calculated aircraft's center of gravity based on the flow rate and the input target center of gravity or the difference between the calculated aircraft's center of gravity based on the liquid level and the input target center of gravity is greater than the target center of gravity difference threshold value, the valve opening degree of the forward inlet and outlet control valve 12 in the forward water tank unit 10 and the valve opening degree of the rear inlet and outlet control valve 22 in the rear water tank unit 20 can be adjusted to increase the flow rate of the liquid ballast medium being transferred, so that the center of gravity of the aircraft can reach the target center of gravity more quickly.

[0068] However, as shown in Figure 2 regardless of the selection of the adjustment of the aircraft's center of gravity based on the flow rate or the adjustment of the aircraft's center of gravity based on the liquid level, the water ballast system of the present application always monitors the difference between the calculated aircraft's center of gravity based on the flow rate and the calculated aircraft's center of gravity based on the liquid level and the difference between the calculated water tank weight based on the flow rate and the calculated water tank weight based on the liquid level in real time during the adjustment of the aircraft's center of gravity.

[0069] In the case that the difference between the calculated water tank weight based on the flow rate and the calculated water tank weight based on the liquid level exceeds the pre-set relative weight difference threshold value or the difference between the calculated aircraft's center of gravity based on the flow rate and the calculated aircraft's center of gravity based on the liquid level exceeds the pre-set relative center of gravity difference threshold value, the water ballast system of the present application will issue an alarm message. The monitoring personnel will make a judgment on whether to suspend the adjustment after discovering the alarm message, and then investigate the cause of the difference exceeding the threshold value.

[0070] If it is determined that the cause is a leak or other failure, the adjustment procedure is ended and failure treatment is carried out, and if it is determined that the influence is due to the aircraft attitude or other non-failure cause, the reference weights of the water tanks are renewed using the water tank weights measured using the liquid levels as the reference for the flow measurement after the aircraft has entered a normal attitude, and the adjustment procedure for the center of gravity of the aircraft is then re-started as necessary.

[0071] The liquid level and flow based water ballast system control method of the present application has the advantage that, by using the dual redundant control method composed of the liquid level based center of gravity control method and the flow based center of gravity control method in combination, the advantages of both control methods can be fully utilized, the problems of the previous single control method can be effectively solved, the center of gravity adjustment accuracy and stability of the center of gravity adjustment process of the water ballast system can be improved, and the safety and reliability of the water ballast system can be ensured.

[0072] Furthermore, by the negative feedback adjustment method, in the case where the difference between the flow based center of gravity of the aircraft and the target center of gravity or the difference between the liquid level based center of gravity of the aircraft and the target center of gravity is greater than the target center of gravity difference threshold value, the transfer flow of the liquid ballast medium is increased by increasing the valve opening of the water inlet and outlet control valve, and the center of gravity of the aircraft can be quickly adjusted to the target center of gravity position.

[0073] Furthermore, during the adjustment of the center of gravity of the aircraft, the water ballast system of the present application always monitors the difference between the water tank weight calculated based on the flow and the water tank weight calculated based on the liquid level and the difference between the center of gravity of the aircraft calculated based on the flow and the center of gravity of the aircraft calculated based on the liquid level, and when the difference calculated by the two methods exceeds the pre-set threshold value, the water ballast system of the present application issues an alarm message to investigate the cause of the abnormality.

[0074] In this way, the possible faults in the center of gravity adjustment process can be discovered in time, the cause of the abnormality can be investigated in time, the system safety can be ensured, and the reliability of the center of gravity adjustment can be significantly improved.

[0075] Although the structure and working principle of the present application have been described above in combination with the preferred embodiments, those skilled in the art should recognize that the above examples are only used for illustration and do not constitute a limitation on the present application. The present application can be modified and varied within the scope of the spirit of the claims, and these modifications and variations will fall within the protection scope of the present application.

Claims

1. A control method for a water-based counterweight system based on liquid level and flow rate, suitable for adjusting the center of gravity of an aircraft during flight testing, characterized in that, The water counterweight system control method based on liquid level and flow rate includes the following steps: Step 1: Input the target aircraft's center of gravity, set the target center of gravity difference threshold, and start the center of gravity adjustment program; Step 2: Obtain the flow rate of the transmitted liquid counterweight medium through a flow sensor, and calculate the current center of gravity position of the aircraft based on the flow rate. Obtain the liquid level of each water tank through a level sensor, and calculate the current center of gravity position of the aircraft based on the liquid level. Step 3: Real-time monitoring of the aircraft's center of gravity position calculated based on flow rate and liquid level. Step 4: If at least one of the differences between the aircraft's center of gravity position calculated based on flow rate and the target center of gravity position, and the differences between the aircraft's center of gravity position calculated based on liquid level and the target center of gravity position, is less than the target center of gravity difference threshold, it is determined that the aircraft's center of gravity has been adjusted to the target center of gravity, and the center of gravity adjustment procedure ends. In step two, before adjusting the aircraft's center of gravity, the baseline weight of each water tank is obtained before the center of gravity adjustment. Then, the flow sensor obtains the transmission flow rate of the liquid ballast medium, and the transmission weight of the liquid ballast medium is calculated by integrating the transmission flow rate over time. This weight is then combined with the baseline weight to calculate the current weight of each water tank, thereby determining the current center of gravity position of the aircraft. In step two, the liquid level sensor acquires the current liquid level of each water tank and calculates the current weight of each water tank based on the relationship between liquid level and weight, thereby calculating the current center of gravity position of the aircraft. In step four, firstly, it is determined whether the difference between the aircraft's center of gravity position calculated based on the flow rate and the target center of gravity position is less than the target center of gravity difference threshold. If it is determined to be less than the threshold, it is determined that the aircraft's center of gravity position has been adjusted to the target center of gravity position. If the value is determined to be not less than the target center of gravity, the difference between the aircraft's center of gravity position calculated based on the liquid level and the target center of gravity position is determined to be less than the target center of gravity difference threshold. If at least one of the difference between the aircraft's center of gravity position calculated based on the flow rate and the difference between the aircraft's center of gravity position calculated based on the liquid level and the target center of gravity position is less than the target center of gravity difference threshold, it is determined that the aircraft's center of gravity position has been adjusted to the target center of gravity position.

2. The water counterweight system control method based on liquid level and flow rate as described in claim 1, characterized in that, Step three also includes: setting a relative center of gravity difference threshold and a relative weight difference threshold, and monitoring in real time the difference between the aircraft center of gravity calculated based on flow rate and the aircraft center of gravity calculated based on liquid level, and the difference between the water tank weight calculated based on flow rate and the water tank weight calculated based on liquid level.

3. The water counterweight system control method based on liquid level and flow rate as described in claim 2, characterized in that, An alarm message is issued if the difference in the aircraft's center of gravity exceeds the relative center of gravity difference threshold or if the difference in the water tank's weight exceeds the relative weight difference threshold.

4. The water counterweight system control method based on liquid level and flow rate as described in claim 3, characterized in that, Upon receiving the alarm message, the operator shall suspend the aircraft's center of gravity adjustment procedure and investigate the cause. If a system malfunction is detected, the adjustment procedure is terminated; if no system malfunction is detected, the aircraft attitude is allowed to return to normal, the water tank reference weight is updated using the water tank weight measured by the liquid level, and the adjustment procedure is restarted.

5. The water counterweight system control method based on liquid level and flow rate as described in claim 1, characterized in that, The liquid level sensor is individually configured for each of the water tanks and collects liquid level data for each water tank.

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